CN101351236A - An active cannula for bio-sensing and surgical intervention - Google Patents

An active cannula for bio-sensing and surgical intervention Download PDF

Info

Publication number
CN101351236A
CN101351236A CNA2006800500468A CN200680050046A CN101351236A CN 101351236 A CN101351236 A CN 101351236A CN A2006800500468 A CNA2006800500468 A CN A2006800500468A CN 200680050046 A CN200680050046 A CN 200680050046A CN 101351236 A CN101351236 A CN 101351236A
Authority
CN
China
Prior art keywords
pliability
pipe
overlapping
pliability pipe
curvature
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CNA2006800500468A
Other languages
Chinese (zh)
Other versions
CN101351236B (en
Inventor
罗伯特·詹姆斯·韦伯斯特
阿利森·M·奥卡穆拉
诺厄·J·考恩
罗素·H·泰勒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Johns Hopkins University
Original Assignee
Johns Hopkins University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Johns Hopkins University filed Critical Johns Hopkins University
Publication of CN101351236A publication Critical patent/CN101351236A/en
Application granted granted Critical
Publication of CN101351236B publication Critical patent/CN101351236B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0108—Steering means as part of the catheter or advancing means; Markers for positioning using radio-opaque or ultrasound markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0152—Tip steering devices with pre-shaped mechanisms, e.g. pre-shaped stylets or pre-shaped outer tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00331—Steering mechanisms with preformed bends
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00809—Lung operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M2025/0161—Tip steering devices wherein the distal tips have two or more deflection regions

Abstract

Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre not formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.

Description

A kind of biological response and operating active sleeve of being used for
The application requires to benefit from a kind of biological response and operating active sleeve of being used for that be entitled as of submitting on November 15th, 2005, application number is 60/736,789 U.S. Provisional Patent Application, with the method for submitting on October 6th, 2006 that is entitled as the snake-shaped robot control that is used for surgery, application number is 60/849,788 U.S. Provisional Patent Application, and it integrates with the application in the reference mode, be used for various purposes, just as being documented in this fully.
Technical field
The present invention relates to surgical trocar and the biosensor that is used for Minimally Invasive Surgery basically.More particularly, relate to the device and the technology that can guide operating theater instruments, injection mass, the diagnostic equipment and/or biosensor by complicated track,
Background technology
In recent years, do not have the surgical treatment of the same a large amount of wounds of traditional open surgery by startup, Minimally Invasive Surgery (MIS) technology has had revolutionary medicine.MIS has made the doctor can enter into the tissue regions that previous open surgery technology can not arrive, and carries out and intervene.In addition, the MIS technology can reduce the wound relevant with operation greatly, therefore can reduce the operation complications associated with arterial system, and accelerate postoperative recovery.Do not have feasible MIS alternatives, can arrive operative site in order to make instrument, the operation of the confined space can produce big otch in vivo, and can simply remove healthy bone, skin and myoarchitecture devastatingly.
The technology that the MIS instrument relates to comprises hard laparoscopic apparatus, and in order to show flexibly action in operation, described laparoscopic apparatus in vivo or externally all require a large amount of development spaces.The requirement of this development space has limited the application of peritoneoscope in the operation of a lot of types.The technology that other MIS instrument relates to comprises variable marmem device, and its shape can change by the heating marmem when this device is in the patient body.A problem of described device is unintentional circumference tissue.The another one problem is that in order to obtain suitable heat and heat radiation subsequently, the thermal time constant of marmem requires to use the regular hour (being about the several seconds).The time delay that thermal time constant causes has limited the application of this MIS device.
But the other technologies that the MIS device relates to comprise the robotic surgical device of the straight and TV operation hard instrument that has the 5-10mm diameter usually, and described robot has one and drives the lead of cable control or the wrist that promotion drives the bar of cable control.A problem of this associated surgical robotics is, it has to decorate pivot at the health inlet, when the track by bending with around in case can not carry out flexible operating during the barrier run in vivo, this robotic surgical device generally is not suitable for complicated operative procedure, such as the fetal operation that carries out in the uterus.Need at least two fulcrums at fetal operation: one is positioned at mother's skin and another is positioned at Uterus wall.The surgical operation that relates to head and cervical region is kind of a very big challenge, even also is like this after the appearance of MIS technology.Such as, the treatment of basis cranii damage generally can be inserted into MIS as endoscope by nose.Because around the elbow of the technology that the MIS device relates in the hole chamber and aperture place is dumb, so, must remove many health tissues and bone structure, such as the turbinates of nose in order the MIS device to be entered comprise the various operative sites of basis cranii.As for the turbinates of nose, their normal function is to purify air and help olefaction.In case after being removed, they can not be by rebuilding with restore funcitons for the purpose that can enter operative site.Two near the zone (portion of optical fundus) and sinus frontalis chambeies that typically can not comprise the carotid artery back by the operative sites that the relevant technology of straight MIS arrives, it comprise arrival be positioned at fully bone behind the bridge of the nose around.
Other examples that the technology that the MIS device relates to lacks the operative procedure of motility are pulmonary surgery and throat operation.As for pulmonary surgery, relevant bronchoscope technology generally can only arrive the 1/3. present of lung inside, also be not used in remove biopsy samples or directly treatment be deep into the low-risk method of cancer in the lung.In addition, other related art method that are used for lung biopsy and treatment comprise the insertion pin, the physical hazard that it can lead to complications, and described danger comprises the lung venting.As for the throat operation, do not having to be difficult to enter the damage that is deep into throat under the situation of big otch.Big otch can be sewed up.To alleviate as the throat that is used to sew up in main road demand itself big otch.Yet relevant MIS device technique lacks the motility of passing through laryngoscope of long distance, and described laryngoscope generally has the diameter of 11mm.
Therefore, need a kind of operation tool that can control flexibly according to anatomical features in order to arrive operative site that other modes can not arrive.In addition, also need a kind of operation device that can be conducted through the intracavity free space, such as passing through hole, throat, and lung also comprise and organize medium.
Summary of the invention
The invention provides a kind of bio-sensing and operating moving casing of being used for, it has solved aforementioned because one or more problems that the correlation technique restriction causes.
Therefore, an advantage of the invention is that provide the inlet of better interior body region to the doctor, described interior body region can not arrive usually.
Another one advantage of the present invention is that it has reduced the indirect trauma that puts on tissue when obtaining the targeted tissue areas realm entry.
Another one advantage of the present invention is that it provides new Therapeutic Method.
Another one advantage of the present invention is that it has increased the getatability of anatomical features for treatment or diagnostic purpose probe.
Another one advantage of the present invention is, its for operating theater instruments simultaneously by free space with organize medium to provide better handling.
Another one advantage of the present invention is that it has improved the telescopic miniaturization of operation.
Another one advantage of the present invention is that the guiding when operating theater instruments is existed in sensitive organization is safer.
Additional advantages of the present invention will be documented in subsequently the description, and its part can show in the description, perhaps may show by enforcement of the present invention.Can be familiar with and reach advantage of the present invention by the part of indicating in description, claims and the additional accompanying drawing.
In order to reach the advantage of these and other, the present invention comprises the operation sleeve pipe.The operation sleeve pipe comprises the first pliability pipe with first pre-formation curvature; Have the second pre-second pliability pipe that forms curvature, wherein the second pliability pipe is placed in the first pliability pipe; With first driver that the first pliability pipe connects together, the wherein translation and the rotation of first driver control, the first pliability pipe; With second driver that connects together with the second pliability pipe, the wherein rotation and the translation of second driver control, the second pliability pipe, the rotation of the second pliability pipe and translation are independent of the translation and the rotation of the first pliability pipe.
In another aspect of the present invention, by reaching above-mentioned with the telescopic software calculation of coding machine computer-readable recording medium of guiding operation and other advantage, described computer-readable medium comprises a program that is used to receive the sleeve pipe path of needs; One calculates the program of a plurality of overlapping pliability pipe configurations, and described overlapping pliability pipe is matched with target sleeve pipe path; One calculates program a plurality of and the corresponding middle configuration in target sleeve pipe path; Instruct the program of a large amount of drivers with one according to configurations in the middle of a plurality of.
Another aspect of the present invention reaches the above-mentioned advantage that reaches other by guiding a method with surgical trocar of a plurality of overlapping pliability pipes.Described method comprises the probe path of definite needs; Select diversity pliability pipe, each in wherein numerous pliability pipes all has pre-formation curvature and elasticity; Determine the final overlapping configuration of diversity pliability pipe, so just can make the curvature result of overlapping configuration fully corresponding with the target-probe path; With the overlapping configuration in a plurality of centres of definite diversity pliability pipe, wherein corresponding with the target-probe path every middle configuration.
Can understand like this, aforementioned bright in general and detailed subsequently explanation all is typical case and indicative, is for the invention provides satisfactory further instruction.
The accompanying drawing summary
Accompanying drawing is used for further understanding the present invention, and it is introduced into and the part of book as an illustration, and embodiments of the invention and description one are used from the explanation inventive principle.
Fig. 1 illustrates and is used to control telescopic system among moving casing and the present invention;
The typical outer tube of Fig. 2 A explanation moving casing;
The typical intermediate tube of Fig. 2 B explanation moving casing;
Pipe in the typical case of Fig. 2 C explanation moving casing;
Fig. 2 D explanation comprises the typical moving casing of 3 pipes that show among Fig. 2 A-C;
Fig. 3 further specifies the moving casing of Fig. 2 B, and wherein each pipe all has degree of freedom;
Fig. 4 A illustrates a cover diaxon driver of the present invention;
Fig. 4 B explanation is used for the exemplary device of diaxon driver;
Fig. 5 illustrates the manual driver of a cover;
Fig. 6 explanation is used for the exemplary program of moving casing control;
Fig. 7 illustrates the motion frame of control pliability pipe; With
Fig. 8 illustrates that how strained mutually the length of side of pipe and curvature are.
The detailed description of illustration embodiment
The present invention comprises moving casing (being also referred to as the operation sleeve pipe), and it can be used to launch surgical probe, and moving casing is also referred to as snakelike operating robot.Moving casing has a plurality of concentric hollow pliability pipes, and wherein each pipe has predetermined pliability and preformed curvature.Advance by optionally translation and each pliability pipe of rotation realize ground in the end of moving casing.Based on pliability, the pre-curvature that forms, angular orientation, the translation position of each pliability pipe, complex form in can the manipulation activities sleeve pipe going to hit the target, so that its can pass through neatly free space (such as, control by Dou Tongdao or in bronchus) and/or by having the tissue of various resistances.Organize the resistance of medium can influence the form of moving casing, it organizes the telescopic mode of resistance of medium boot activity to finish by utilization.When each pliability pipe slided in each other when translation with during rotating, the elastic energy in each pliability pipe can make activity pliability pipe continuously active.
In addition, by the mode that the interaction force by concentric pliability pipe " returns and pushes away self ", activity pliability pipe can be taked complex morphological to come by free space when being directed or organize medium.It is pushed the mode of organizing medium and guides the related art method of probe to form contrast with utilizing, and the medium of organizing wherein can be a soft tissue, or as the anatomical features of arterial wall.
Fig. 1 is the canonical system 100 that explanation the present invention is used to control moving casing.System 100 comprises a moving casing 102, and described moving casing 102 comprises outer pliability pipe 110, middle pliability pipe 115 and interior pliability pipe 120.Can there be end effector 125 end of interior pliability pipe 120.System 100 further comprises the internal drive module 140 that is connected to interior pliability pipe 120; The middle driver module 135 of pliability pipe 115 in the middle of being connected to; Be connected to the external drive module 130 of outer pliability pipe 110.Internal drive module 140, middle driver module 135 and external drive module 130 are linked on the Control Computer 145.
Control Computer 145 connects 146a by the control network and is connected with main frame 150.If main frame 150 and Control Computer 145 are in the same localities, it can be Local Area Network that the control network connects 146a.Optionally, main frame 150 and Control Computer 145 possibility a good distance offs, the control network connects 146a and can comprise the Internet under this situation.
Main frame 150 comprises memorizer 152, and it is encoded with the software (hereinafter " software ") of carrying out the program relevant with the present invention.Main frame 150 is connected with user interface 155.Main frame 150 may be single computer, perhaps may be many computers that connect by network, comprises and passes through the Internet.Memorizer 152 may comprise single memory device, such as hard disk drive, or comprises a plurality of memory devices and the data base who is distributed in many computers.Those skilled in the art will easily understand, many such main frames 150 that are used for, and the architecture of memorizer 152 and user interface 155 is feasible and within the scope of the invention.
System 100 may further comprise medical image system 160, and described medical image system comprises image processing unit 165.Image processing unit 165 may connect 146b by the imaging network and be connected with main frame 150, and the type that described network connects can be to connect the identical type of 146a with the control network.
Fig. 1 illustration moving casing 102 be placed in patient's the tissue 170, the both is at medical image system 160 within sweep of the eye.Tissue of patient 170 comprises inlet point 175, and moving casing 102 enters patient at Qi Chu; With operative site 180, it is the target site of being concerned about in the patient body that carries out surgical operation or diagnosis.
Medical image system 160 can comprise one or more medical imaging modes, such as fluoroscopy, and NMR (Nuclear Magnetic Resonance)-imaging, ultrasound wave, and similar fashion.The specific imaging form of medical image system 160 may depend on the material that is used for moving casing 102 and the character of moving casing 102 residing tissue of patient 170.Medical image system 160 can be such one type, it provides the 3 d image with fully ageing and abundant frame per second, and described fully ageing and abundant frame per second can make it be able to the feedback control that moving casing 102 is carried out based on image by the mode of operating software on main frame 152.
Fig. 2 A-2D illustration moving casing 102 and assembly pliability pipe thereof.Fig. 2 A illustration typical outer pliability pipe 110.Outer pliability pipe 110 can have the straight portion 210 of outer tube, outer tube turn of bilge 212 and outer tube transition point 211, the border between described transition point definition straight portion 210 of outer tube and the outer tube turn of bilge 212.Outer pliability pipe 110 can have width be enough to allow in the middle of pliability pipe 115 and the internal flexibility pipe 120 independent internal diameter that slides in pliability pipe 110 inner surfacies outside.The thickness of outer pliability pipe 110 can become by letter with the target elasticity of pipe, and the back will further describe.Correspondingly, the thickness of outer pliability pipe 110 goes for providing specified elasticity.The circular curvature of illustrated outer pliability pipe 110 is exemplary, gives the material of fixed tube, and under the situation of thickness and moving casing 102 target purposes, a lot of different curved shapes are possible.
Outer pliability pipe 110 may be made of marmem, and Nitinol (nitinol) for example is although as long as can use the purposes and having by such as material character or specify the elastic other materials of the scheduled type of thickness of tube wall of being suitable for performing the operation.
Pliability pipe 115 in the middle of Fig. 2 B explanation is typical.Middle pliability pipe 115 can have the straight portion 215 of intervalve, and intervalve turn of bilge 217 and intervalve transition point 216, described transition point are the borders between definition straight portion 215 of intervalve and the intervalve turn of bilge 217.Middle pliability pipe 115 can have width is enough to the internal diameter that allows internal flexibility pipe 120 slide in middle pliability pipe 115 inner surfacies.The thickness of middle pliability pipe 115 can become by letter with the target elasticity of pipe, and the back will further describe.Therefore, the thickness of middle pliability pipe 115 goes for providing specified elasticity.The circular curvature of pliability pipe 115 is typical in the middle of illustrated, gives the material of fixed tube, and under the situation of thickness and moving casing 102 target purposes, a lot of different curvature are possible.
Situation as the outer flexible pipe, middle pliability pipe 115 may be made of marmem, Nitinol (nitinol) for example is although can use other materials, as long as be suitable for performing the operation purposes and having by such as the elasticity of specifying the specific scheduled type of tube thickness.In addition, in the middle of constituting the material of pliability pipe 115 and the material of outer pliability pipe 110 can be identical also can be different, it depends on the expectation shape, the elasticity of thickness and whole moving casing 102.
Pliability pipe 120 in Fig. 2 C explanation is typical.The straight portion 220 of pipe in interior pliability pipe 120 can have, interior pipe turn of bilge 222 and interior tube transitions point 221, described transition point are the borders of managing in the definition between straight portion 220 and the interior pipe turn of bilge 222.Interior pliability pipe 120 can have width is enough to make internal diameter that sleeve pipe passes through smoothly etc.In addition, the width of this internal diameter can be enough to make cable, is connected with end effector 125 such as lead, pin, resilient push or optical fiber cable.The thickness of interior pliability pipe 120 can become by letter with the target elasticity of pipe, and the back will further describe.Therefore, the thickness of interior pliability pipe 120 may be applicable to provides specified elasticity.The curvature of pliability pipe 120 is typical in illustrated, gives the material of fixed tube, and under the situation of thickness and moving casing 102 target purposes, a lot of different curvature are possible.
Situation as the outer flexible pipe, interior pliability pipe 120 may be made of marmem, such as Nitinol (nitinol), although other materials also can use, the purposes and having by such as specifying the specific scheduled elasticity of tube thickness as long as it is suitable for performing the operation.In addition, constitute in material and the material of outer pliability pipe 110 and middle pliability pipe 115 of pliability pipe 120 can be identical also can be different
End effector 125 may be many a kind of in the target surgery device of being suitable for.Such as, end effector 125 can be the thermal ablation probe, the optical fibers video camera, and the tip that is used to inject radioactive source is used to carry out bioptic probe, and similar device.In addition, end effector 125 can be used for obtaining tissue or fluid sample, is used for analyzed in vitro.In addition, end effector 125 can be to be placed into the biosensor of being concerned about the position.This biosensor may comprise stereotaxis localizer (such as, magnetic tracking device), molecule sensor, electric impedance sensor, the mechanical impedance pick off of remote control, optics luminescence sensor, and similar pick off.Person skilled in the art will readily appreciate that end effector 125 can take a lot of forms and carry out many different functions, it all within the scope of the invention.
Fig. 2 D illustration comprise the moving casing 102 of each pipe of showing among Fig. 2 A-D.Pliability pipe 115 in the middle of interior pliability pipe 120 is inserted into, the combination of interior pliability pipe 120 and middle pliability pipe 115 is inserted into outer pliability pipe 110.
Fig. 3 illustration comprise in pliability pipe 120, the moving casing 102 of middle pliability pipe 115 and outer pliability pipe 110.As shown in the figure, each pliability pipe has two degree of freedom: one around axial rotating shaft and another translation shaft along linearity.Such as, outer pliability pipe 110 has the rotary freedom 305 of an outside and the translation freedoms 310 of an outside.The outside rotary freedom 305 and the translation freedoms 310 of an outside are applicable to outer pliability pipe 110 to manage irrelevant mode with other.Middle pliability pipe 115 has with middle rotary freedom 315 with middle translation freedoms 320, and both only are applicable to middle pliability pipe 115 to manage incoherent mode with other.Interior pliability pipe 120 has an inner rotary freedom 325 and an inner translation freedoms 330, and both are applicable to interior pliability pipe 120 to manage incoherent mode with other.
Referring again to Fig. 3, moving casing 102 has a large amount of overlapping transition point T 1-T 5Each overlapping transition point T 1-T 5The border in a zone of definition, on this border, each outer pliability pipe 110, middle pliability pipe 115 and interior pliability pipe 120 (or these some subclass of three) have sufficient degree of curvature constant, or do not have curvature.Such as, overlapping transition point T 1And T 2Between the zone comprise outer tube turn of bilge 212, straight portion 215 of intervalve and the straight portion 220 of interior pipe.Overlapping transition point T 2Overlapping with intervalve transition point 216.Therefore, T 2And T 3Between the zone comprise outer tube turn of bilge 212, the straight portion 220 of intervalve turn of bilge 217 and interior pipe.
Each is by overlapping transition point T 1-T 5In the zone of at least one qualification have curvature, described curvature is along with each outer pliability pipe 110, the curvature of middle pliability pipe 115 and outer pliability pipe 120 and elasticity and become are also with organizing the medium peripheral resistance to become.What should be noted that a bit is that some zone only has middle pliability pipe 115 and interior pliability pipe 120.In this case, this regional curvature becomes along with the curvature of two pipes in this zone.Under simple situation, T 5To the curvature in the zone of 125 of end effectors along with the curvature of interior pliability pipe 120 with organize the medium peripheral resistance and change.
Fig. 4 A explanation is according to a cover diaxon driver of the present invention.This diaxon driver comprises the external drive module 130 that is connected on the outer pliability pipe 110; Middle driver module 135 in the middle of being connected on the pliability pipe 115; With the internal drive module 140 that is connected on the interior pliability pipe 120.Each driver module drives their pliability pipes separately independently.Such as, external drive module 130 outside near the rotary freedom 305, and drive outer flexible pipes 110 along outer translation freedoms 310.Middle driver module 135 is near middle rotary freedom 315, and pliability pipes 115 in the middle of driving along middle translation freedoms 320.And interior driver module 140 is near internal rotation degree of freedom 325, and pliability pipe 120 in driving along translation freedoms 330.
Fig. 4 B explanation is according to typical diaxon driver 405 of the present invention.Diaxon driver 405 can be used to any outer driver module 130, middle driver module 135 and interior driver module 140.Diaxon driver 405 comprises the guide spiro rod 410 that is fixed on hardy on the pliability pipe (among the figure be example with pliability pipe 110); Nut 415 combines with guide spiro rod 410 by screw thread; The linear translation motor 435 that is connected with nut 415 by shiftable gear 425.Diaxon driver 405 further comprises by sprocket wheel 437 and is connected to belt drives 440 on the guide spiro rod 410.Belt drives 440 also is connected on the turning motor 450 by swing pinion 445.Diaxon driver 405 also comprises translation and rotary coding machine (not shown), and it provides linear translation position and angular orientation signal to Control Computer 145 respectively.
Diaxon driver 405 can followingly be operated.When linear translation, linear translation motor 430 receives instruction and removes its elastic tube of translation according to specific translation distance from Control Computer 145.When reaction, 430 rotations of linear translation motor are with the shiftable gear 425 of nut 415 interlocks.Nut 425 rotating clutch subsequently is used for the guide spiro rod 410 of translation pliability pipe.
When rotated, turning motor 450 rotates from Control Computer 145 reception instructions and according to the specific anglec of rotation.When reaction, the swing pinion 445 of turning motor 450 rotations and belt drives 440 interlocks.Belt drives 440 interlock sprocket wheels 437, the rotary steering screw rod 410 successively.Notice that the rotation of guide spiro rod 410 causes that the translation of guide spiro rod 410 is because there is nut 415.Therefore, in order to prevent additional translation, come balanced linear translation motor 430 by mode at opposite spin nut 415.Same, rationalistic pliability pipe rotation may require the coordination motor by turning motor 450 and linear translation motor 430 modes.
Shown in Fig. 4 B, guide spiro rod 410 can be hollow.In this case, if the outer driver module 130 of diaxon driver 405 conducts, so outer pliability pipe 110 is connected with guide spiro rod 410, and middle pliability pipe 115 and interior pliability pipe 120 can be in the hollow parts translation and the rotations independently of guide spiro rod 410.Like this, outer pliability pipe 110, middle pliability pipe 115 and interior pliability pipe 120 can be by translation and rotations independently.
Fig. 5 illustrates the manual diaxon driver 505a-c of a cover.At this, manual diaxon driver 505a can replace outer driver module 130 to drive outer pliability pipe 110; Pliability pipe 115 in the middle of driver module 135 drove in the middle of manual diaxon driver 505b can replace; Pliability pipe 120 in driver module 140 drove in manual diaxon driver 505c can replace.Each manual diaxon driver 505a-c can comprise translation with the rotation encoder, described encoder is used for providing linear position and angular orientation signal to Control Computer 145.
The variation of diaxon driver module is possible.Such as, diaxon driver 405 may comprise manual control, such as the button of representing linear translation motor 430 and turning motor 450 respectively.In addition, system 100 can comprise the combination of motor driver and manual driver.In addition, diaxon driver 405 is typical.Such as, have other and show the different modes of finishing each pliability pipeline translation and rotation here.Those skilled in the art can easily understand, and many such variations are possible and all within the scope of the invention.
Fig. 6 illustrates that the present invention is used to control the exemplary program 600 of moving casing.Carry out all or part program 600 by the software that is stored on the memorizer 152 and on master computer 150 and/or Control Computer 145 and/or image processing unit 165, carry out.Program 600 can be divided into two subprocess: route planning (step 605-25) and route planning are carried out (step 630-55).
In step 605, medical image system 160 obtains the image of tissue of patient 170.There is the visual field at around medical image system 160 can be configured to have in the entrance 175 and operative site 180 places.Depend on its imaging form (such as, nuclear magnetic resonance, NMR, ultrasonic etc.), medical image system 160 can obtain the 3-D image of tissue of patient, and whereby, the pixel of each image and voxel are registered as the photographic coordinate frame.Image processing unit 165 can connect 146b by the imaging network provides image and image register information to master computer 150.
In step 610, the doctor determine one from the entrance 175 to the operation position 180 destination paths.In doing so, the doctor can determine a paths, will advance under the situation that has near the error boundary path by this path moving casing 102.Depend on the location of operative site 180 and the existence of inserting tissue or organ, the path can comprise the pahtfinder hard with variable error border.
The doctor can use user interface 155 to remove to define path and its error boundary.In doing so, the doctor can use cursor to go labelling to deposit the point of back in the image by what step 605 was obtained.Software is discerned these and is deposited the position of the point of selecting in the image and these positions are existed in the memorizer 152.
In step 615, computed in software goes out the final configuration of moving casing 102, and described configuration is with the path of selecting in the completing steps 610.In doing so, software can be determined each outer pliability pipe 110, the translation position of middle pliability pipe 115 and interior pliability pipe 120 and rotation orientation, and it will make moving casing 102 and path meet.
When calculating met the final configuration in path, this software was divided into one group of superimposed transition point T with moving casing 102 1-T 5The zone of definition.In doing so, this software will be each outer pliability pipe 110, and middle pliability pipe 115 is selected the initial set of translation position and rotation orientation.Overlapping transition point T 1-T 5The position depend on the overlapping of three pliability pipes.Then for each superimposed transition point T 1-T 5The zone of demarcating, this software calculates in this regional transient equilibrium curvature (in X and Y part) according to following relation:
κ x = Σ i = 1 n E i I i cos ( θ i - φ ) κ i Σ i = 1 n E i I i
and
κ y = Σ i = 1 n E i I i sin ( θ i - φ ) κ i Σ i = 1 n E i I i
Wherein n is the quantity (n=3 in this example) of pliability pipe; K iBe i in this zone ThThe moment curvature of pliability pipe; E iBe i ThThe modulus of elasticity of material (young's modulus) in the pliability pipe; I iBe i ThThe cross section rotary inertia of pliability pipe; θ iBe at i towards the most close overlapping transition point T of driver direction ThThe angular orientation of pliability pipe; Φ is in conjunction with the angle of equilibrium of pliability pipe when the angular orientation of given each pliability pipe, and Φ wherein serves as the basis decision with this zone.In other words, such as, for passing through overlapping transition point T 3And T 4The zone of demarcating, Φ is at T 3On belong to the angle of equilibrium.
K in these terms i, E iAnd I iBe known.Remaining term calculates (1) in the following manner and calculates the amount of torsional energy in the straight line portion between the driver and first transition point and the shape that least energy is provided is calculated in the flexional (becoming with the pliability pipe is directed) and (2) that are stored in the moving casing.In doing so, this software calculates the amount of torsional energy that is stored in outer pliability pipe 110 straight line portioies 210,215 and 220, the amount of torsional energy in middle pliability pipe 115 and the interior pliability pipe 120 respectively; This software calculates the flexional that is stored in outer pliability pipe 110 turn of bilges 212,217 and 222, the flexional in middle pliability pipe 115 and the interior pliability pipe 120 respectively.This software is finished by the following storage power of calculations incorporated that concerns:
E ( q ) = Σ i = 1 n G i J i L i ( α i - θ i , 1 ) 2 + Σ j = 1 m Σ i = 1 n E i I i l i 2 ( ( κ x - κ i cos ( θ i , j - φ j ) ) 2 + ( κ i sin ( θ i , j - φ j ) ) 2 )
A wherein iBe interior driver module 140, the angle input in middle driver module 135 and the outer driver module 130; θ I, jBe at j ThTransition point T jMiddle i ThThe angle of pliability pipe; It is the balancing plane of each the m overlapping region between the overlapping transition point T; With
Figure A20068005004600164
Obtain the minima of E (q) and obtain θ 1,1, θ 1,2... θ 1, nAt T 1Direction of rotation, and the balanced surface of each overlapping region between the transition point T These values also can be for above-mentioned K XAnd K YAnd be used in the equation, go the curvature of each overlapping region between the transition point T of computational activity sleeve pipe 102.
Fig. 7 illustrates the motion frame of control pliability pipe.As shown in the figure,
Figure A20068005004600166
Expression pliability pipe 710 is at overlapping transition point T iThe balance angle of place's pliability pipe 710 and α represent the input anglec of rotation that the rotary engine by diaxon driver 405 causes.
The further situation of step 615, software can be outer pliability pipe 110, middle pliability pipe 115 is selected different pipes with interior pliability pipe 120 from the pipe storage.In this case, many pliability tubing types separately may be available, and their performance (length of straight part, the length of turn of bilge, the radius of curvature of turn of bilge, elasticity etc.) can be stored in the memorizer 152.Similarly, this software can repeat the calculating that above-mentioned steps 610 is put down in writing, the different effective pipe of wherein each repeated use.So, this software can be determined two things: the first, and whether the determined path of doctor can be repeated by moving casing 102; With the second, which kind of binding energy of pipe is finished this path.In addition, above-mentioned relation is not restricted to 3 pliability pipes.Therefore, in order to finish the determined path of doctor, this software can be selected multiple pliability pipe jointing, comprises the pliability pipe quantity that is utilized.One skilled in the art will know that how carrying out above-mentioned formula makes the pliability pipe greater than three.
In the step 620, software is that moving casing 102 calculates a large amount of configurations, so that the final configuration that moving casing calculates in the completing steps 615 step by step, when moving casing does not depart from determined path of doctor and error boundary.In doing so, software can calculate a series of middle configurations and calculate one group of linear translation and rotation of finishing each middle configuration.Software can be as the iterative computation of carrying out of above-mentioned steps 615, and the result configuration of the middle configuration after it calculates for each can be used as the initial configuration of the middle configuration after next the calculating.
The further situation of step 620, in order to finish the middle configuration in the sequence, software can be each outer driver module 130, middle driver module 135, calculate a sequence rotate instruction with the rotary engine 450 in the interior driver module 140, for linear translation electromotor 430 calculates sequence linear translation instruction.
In step 625, software is that each moving casing in medical image system 160 coordinate systems is deposited final and intermediary configuration, just as the calculating respectively in step 615 and 620.In doing so, software obtains in can searching step 605 deposits image, has specified a path this image Chinese physician in step 610, and deposits configuration in the middle of the final sum of moving casing 102.One sets of curves during its possibility of result, a middle configuration and a final configuration, wherein every sets of curves is corresponding to moving casing 102 and an overlapping transition point T 1-T 5Between the zone.Software can be by initial at the initial point of moving casing (being deposited with in the image space), finishes by entrance 175 with in the mode that operative site 180 end effector of the moving casing 102 of middle configuration (or) finishes.Software is stored in these curve groups in the memorizer 152.
This finishes the typical path plan subprogram of program 600, and this route planning subprogram can directly be carried out in operating room before operation.Alternatively, this route planning subprogram can be carried out in being different from the scene of operating room before surgical operation.Under latter event, the image that step 605 is obtained may be out-of-date, because patient moves between route planning subprogram and execution subroutine.In this case, must obtain the new precursor that image is used as execution subroutine of depositing by medical image system 160, the image that newly obtains must be deposited to the initial stage deposits image, and what the described initial stage deposited that image has the moving casing 102 that calculates in the step 625 deposits configuration (curve).Further information about the robot path plan can be from Planning Algorithms, Steven M.LaVaIIe, Cambridge University Press (2006), find in (ISBN-10:0521862051 1 ISBN-13:9780521862059), its content just as all open in this application, can incorporate being used for reference into.
At initial execution subroutine, as shown in Figure 1, for operation is ready to patient, and tissue of patient 170 is placed in the visual field of medical image system 160.Moving casing 102 be placed in entrance 175 near, outer driver module 130, middle driver module 135 is connected with moving casing 102 with interior driver module 140.Control Computer 145 and driver module 130,135 are connected with 140 3, and set up communication by control network connector 146a between Control Computer 145 and master computer 150.
In step 630, the first step of execution subroutine, doctor (passing through user interface) sends an instruction to software moving casing 102 is moved to the first middle configuration that (in the route planning subprogram) calculates in the step 630.In doing so, this software, described software may just calculate operation on 145 at master computer 150 and/or control, driver module 130 outside each, middle driver module 135, send suitable instruction with the translation electromotor 430 and the rotary engine 145 of interior driver module 140, remove the first middle configuration that calculates in the completing steps 620.
In step 635, medical image system 160 obtains the image of a moving casing 102 in tissue of patient 170.In doing so, moving casing 102 may be cut apart and deposit to image processor 165 in image coordinate system.Image processor 165 may use one or more segmentation algorithms well known in the art.Image processor 165 can transmit register information and image to master computer 150 by image network adapter 136b.This software can receive register information and the image of moving casing 102 in tissue of patient 107, and passes through user interface 155 to doctor's presentation information and image.
In step 640, the middle configuration of depositing calculating in image and the step 620 of this software comparison moving casing 102.In doing so, this software can use in many image processing algorithms one or more to remove these two images of comparison.The coordinate that moving casing coordinate that described in addition software can relatively be cut apart, deposit and given middle configuration calculate, based on this contrast, calculating path error, or differential displacement.
In step 645, described software determines whether there are differences between moving casing 102 of cutting apart, depositing and given middle configuration.If there is not difference, program 600 proceeds to step 655 by " no " branch road from step 645.
In step 655, described software determines whether given middle configuration is exactly the final configuration that calculates in the step 615.If program 600 can proceed to end by the "Yes" branch road of step 655.If it is not final configuration, so program 600 can proceed to the repeating step 630-645 with next middle configuration (or final configuration) by " no " branch road of step 655.
Get back to step 645, if do not have difference at the moving casing 102 of cutting apart, depositing with between the given middle configuration, program 600 can proceed to step 650 by the "Yes" branch road of step 645 so.
In step 650, when moving casing 102 passes tissue of patient 170 in the described computed in software step 630, be applied to power and moment of torsion on the moving casing 102.This software can be according to following computing power and the moment of torsion of concerning.
f x f y f z τ x τ y τ z = [ K ] disp x disp y disp z rot x rot y rot z
F wherein X, y, zBe by organizing medium to act on the composition of power on the moving casing 102, described masterpiece is used in two overlapping transition point T iAnd T I+1Between the given area on; τ X, y, zBe the moment of torsion that acts on the moving casing 102, described moment of torsion affacts on the same area of moving casing 102 by organizing medium; Disp X, y, zIt is the translation composition of the differential displacement of the moving casing 102 of calculating in the step 640.Rot X, y, zIt is the rotation composition of the differential displacement of the moving casing 102 of calculating in the step 640; K is a flexibility matrix, and it is 6 * 6 matrixes, and corresponding to two overlapping transition point T iAnd T I+1Between the power and the moment of torsion flexibility of moving casing 102 of given area.
Flexibility matrix K can be predefined in the calibration procedure, moving casing 102 translation and rotation in one or more anthropometric dummies with known resistance property in described calibration procedure.In addition, if flexibility matrix K is known, moving casing 102 can be used as force transducer then.In such cases, the doctor can be provided with path (using all or part of exemplary program 600) so that end effector 125 can contact with interested tissue regions for moving casing 102.In case end effector 125 contacts with interested tissue regions, the f that calculates in the step 650 X, y, zAnd τ X, y, zNumerical value can correspond respectively to by interested tissue regions and act on power and moment on the end effector 125.Therefore, moving casing 102 can be used as force transducer.
Fig. 8 illustrates tension force, and how strain is long in the pliability tube edge, and described pliability pipe can be outer pliability pipe 110, any in middle pliability pipe 115 and the interior pliability pipe 120.Described software when the configuration of the final sum centre of calculation procedure 615 and 620, can be determined the maximum curvature degree, or minimum profile curvature radius, and given pliability pipe will suffer plastic deformation when surpassing.The degree of crook of plastic deformation finger-type shape memory material, material will no longer return to its original-shape.This may meet the limit that the pliability pipe is allowed curvature.Described software can calculate the maximum curvature degree according to following relation:
κ = 2 ϵ d ( 1 + ϵ )
Wherein d is that pliability pipe diameter and ε are the maximum recoverable strains of pliability tube material.For Nitinol (nitinol), the ε scope can from 0.08 to 0.1.As what infer from top relation, interior pliability pipe is deep camber degree big more (or interior pliability pipe small curvature radius is more little more) more.Therefore, according to the path that step 610 Chinese physician determines, wish to obtain thin pliability pipe.Described software can help the doctor to select preferred pliability tube thickness according to the path of determining in the step 610.
Moving casing 102, the variation of system 100 and program 600 is possible, and falls into scope of the present invention.Such as, some or all the pliability pipes in the moving casing 102 can have identical DE, or they each have different DE.If all pliability pipes have similar elasticity, it will make moving casing 102 more flexible, and more easily pahtfinder hard is passed through in guiding.As selection, outer pliability pipe 110 can be harder than middle pliability pipe 115, described in the middle of pliability pipe 115 can be harder than interior pliability pipe 120.Under latter event, moving casing 102 may more dumb than the previous case (in the previous case, all pliability pipes have identical elasticity).Yet under latter event, the path of moving casing 102 may easier calculating, may be more suitable for manual mode operation, such as, by using manual diaxon driver 505 as shown in Figure 5.
In another version, any pliability pipe can have non-circular inner profile and/or outer profile.This version of pliability tube section can provide different elasticity along with angle of bend.In addition, the pliability pipe can have differing formed zone along its length, and whereby, each zone can have the different cross section shape.
Any pliability pipe in moving casing 102 can only have a turn of bilge or a straight line part.In addition, any pliability pipe can have multistage, and every section has differently curved degree (comprising unbending).
This can allow moving casing 102 obtain more complicated shapes.Such as, any one pliability pipe can have the sequence of three-dimensional curve and linearity region.Equally, any pliability pipe can have the segment of complicated shape, such as spiral-shaped, and elliptical shape, parabolic shape, the variable curvature in three-dimensional, and similarly.At any time of these situations, most transition points (as interior tube transitions point 221, mid-transition point 216 and outer tube transition point 211) can be defined as the labelling that specific pliability pipe radius of curvature changes.Therefore, the discrete layering of curvature can be separated to be used for limiting the overlapping region, as a part of calculating the middle configuration of sleeve pipe final sum in step 615 and 620.
In another variable form, one or more pliability pipes are designed to have variable hardness, and described variable hardness is that the direction according to the pliability canal curvature changes.Surface or outer surface have indentation or groove within it such as, one or more pliability pipes.
In another variable form, one or more pliability pipes can comprise labelling, and described labelling is presented in the pliability tube material, and it is visual that described pliability tube material is designed to medical image system 160.Such as, if medical image system 160 is optical camera, the form of the labelling that is placed into can be coloured band or light color and dark wavestrip.In addition, if medical image system is the C-arm cryptoscope, the labelling of inserting can comprise the conductor structure in the implant material.Those skilled in the art will easily understand, and many versions in this wise are possible, and fall into scope of the present invention.
If Nitinol (nitinol) is used in the pliability pipe of any above-mentioned record, system 100 can comprise one or more heating original papers so, and described heating original paper is along one or more pliability pipes 110,115 and 120 operations.According to this version, heat can be used to change the shape of given pliability pipe.Those skilled in the art will understand that how will heat original paper is attached in moving casing 102 and the system 100, and this version falls into scope of the present invention.
Except lung and throat operation, as above-mentioned, the present invention can be used in other operative procedure, and the motility that moving casing 102 and system 100 provide in described operative procedure may be favourable.Described operative procedure comprises radio frequency and ablates.In radio frequency is ablated, place electrode and transmit painless radio-frequency (RF) energy then at operative site and come tissue around the heating electrode.This program can be used as the part of liver, kidney and lung tumor treatment, is used for cell killing.Moving casing 102 and system 100 may be used to configured electrodes.
The surgical operation that relates in the retina back is used in another possible operation.Such surgical operation can comprise the insertion of retina sleeve pipe and go treatment to solidify, and described solidifying is the one of the main reasons of losing one's sight.
Another possible operation is used and is related to through stomach operation, and in this operation, instrument enters stomach by face, withdraws from stomach then and enters the abdominal cavity.The motility of moving casing 102 and its are conducted through the ability of free space and tissue, can be so that carry out through stomach operation.
In another variable form, system 100 can comprise second moving casing 102, and described second moving casing 102 comprises second group of inside, centre and external drive module of being connected in the control calculating 145.In this version, described two moving casings can be used as the parallel robot, and (" Stuart Platform " is a typical parallel robot, but also have many variants well known in the art), whereby, the tip of two moving casings is linked on the single end effector 125.Doing like this can be position and the direction that system can control end effector, rigidity just as control position and direction, have in the application of variable form of two active cannula system 100 at another, two moving casings can be placed in the tissue of patient 170, and are used as the retractor that grasps soft tissue and expose operative site.
Use although foregoing description relates to operation of the present invention, person skilled in the art will readily appreciate that the present invention can be used to other and need will install the application that guides by the pahtfinder hard that comprises free space.Other application can comprise makes and miniature assembling, and decree (defusing ordinance) is removed in the long-range structure inspection, in damaged structure, search and relief, and similar application.
Under the prerequisite that does not break away from the spirit or scope of the present invention, those skilled in the art will appreciate that the present invention can make various improvement and variation.Therefore, it is intended that the present invention and has covered its improvement and version, and described improvement and version all drop in the scope of appended claim and its equivalents.

Claims (23)

1. operation sleeve pipe comprises:
Has the first pre-first pliability pipe that forms curvature;
Have the second pre-second pliability pipe that forms curvature, wherein the second pliability pipe is placed in the first pliability pipe;
Link first driver of the first pliability pipe, wherein the translation and the rotation of first driver control, the first pliability pipe; With
Link second driver of the second pliability pipe, the wherein translation and the rotation of second driver control, the second pliability pipe, it is independent of the translation and the rotation of the first pliability pipe.
2. according to the operation sleeve pipe of claim 1, wherein the first pliability pipe is harder than the second pliability pipe.
3. according to the operation sleeve pipe of claim 1, wherein the first pliability pipe has first hardness, and the second pliability pipe has second hardness, and first hardness wherein is equal basically with second hardness.
4. according to the operation sleeve pipe of claim 1, wherein the first pliability pipe comprises Nitinol.
5. according to the operation sleeve pipe of claim 1, wherein the first pliability pipe has straight portion.
6. according to the operation sleeve pipe of claim 1, wherein the first pliability pipe comprises the zone with compound shape.
7. according to the operation sleeve pipe of claim 1, wherein the first pliability pipe comprises a plurality of zones, and wherein for each described a plurality of zone, the first pliability pipe has different thickness.
8. according to the operation sleeve pipe of claim 1, wherein the second pliability pipe comprises Nitinol.
9. according to the operation sleeve pipe of claim 1, wherein the second pliability pipe has straight portion.
10. according to the operation sleeve pipe of claim 1, wherein the second pliability pipe comprises the zone with compound shape.
11. according to the operation sleeve pipe of claim 1, wherein the second pliability pipe comprises a plurality of zones, wherein for each described a plurality of zone, the second pliability pipe has different thickness.
12. according to the operation sleeve pipe of claim 1, further comprise the computer that is connected to first driver and second driver, wherein said computer comprises the computer-readable medium with program coding, described program is used for the linear position according to the first pliability pipe; First pliability limb orientation; The first pre-curvature that forms; The second pliability pipeline position; Second pliability limb orientation; The second pre-curvature that forms; And first overlapping between pliability pipe and the second pliability pipe determine the telescopic shape of operation.
13. the operation sleeve pipe according to claim 1 further comprises: have the 3rd pre-the 3rd pliability pipe that forms curvature, wherein the 3rd pliability pipe is placed in the second pliability pipe; With
Be connected to the 3rd driver of the 3rd pliability pipe.
14. operation sleeve pipe according to claim 13, further comprise and be connected to first driver, the computer of second driver and the 3rd driver, described computer has the computer-readable medium with program coding, and described program is by the first pliability pipeline position; First pliability limb orientation; The first pre-curvature that forms; The second pliability pipeline position; Second pliability limb orientation; The second pre-curvature that forms; The 3rd pliability pipeline position; The 3rd pliability limb orientation; The 3rd pre-curvature that forms; With the first pliability pipe, the second pliability pipe, and the telescopic shape of overlapping next definite operation between the 3rd pliability pipe.
15. it is telescopic with software calculation of coding machine computer-readable recording medium to be used to the guiding operation, described software comprises:
The program in receiving target sleeve pipe path;
Calculate the program of a plurality of overlapping pliability pipe configurations, described configuration mates target sleeve pipe path basically;
Calculate the program of a plurality of middle configurations corresponding with target sleeve pipe path;
According to described a plurality of in the middle of configurations instruct the program of a plurality of drivers.
16. according to the computer-readable medium of claim 15, wherein said software further comprises:
Obtain the program of sleeve pipe image;
Deposit the program of image middle sleeve position; With
With the correlated program of sleeve position and target sleeve pipe path.
17. according to the computer-readable medium of claim 16, wherein said software further comprises the power act on the sleeve pipe and the program of moment of torsion calculated.
18. according to the computer-readable medium of claim 15, the program of wherein calculating described a plurality of overlapping sleeve pipe configurations comprises:
Determine the program of a plurality of overlapping regions;
Be the program of each described a plurality of overlapping regions calculating curvature, it is based on the pre-formation curvature of each a plurality of overlapping pliability pipe in each overlapping region and the elasticity of each overlapping pliability pipe.
19. be used to guide the telescopic method of the operation with a plurality of overlapping pliability pipes, comprise:
Determine destination path;
Select described a plurality of pliability pipe, wherein each the pliability pipe in described a plurality of pliability pipes has pre-formation curvature and elasticity;
Determine the final overlapping configuration of described a plurality of pliability pipes, so that the overlapping configuration curvature that obtains is corresponding basically with target sleeve pipe path; With
Determine the overlapping configuration in a plurality of centres of described a plurality of pliability pipes, wherein configuration is corresponding basically with target sleeve pipe path in the middle of each.
20., determine that wherein final overlapping configuration is included as each described a plurality of overlapping pliability pipe and determines translation and rotation according to the method for claim 19.
21., further comprise according to each overlapping configuration in described a plurality of centres and come translation and each described a plurality of pliability pipe of rotation according to the method for claim 19.
22., determine that wherein final overlapping configuration comprises: select and each the corresponding initial translation of described a plurality of overlapping pliability pipes and rotation group according to the method for claim 19; Determine and translation and the corresponding a plurality of overlapping regions of rotation initial set; Calculate and each corresponding instantaneous curvature in described a plurality of overlapping regions.
23. according to the method for claim 22, wherein calculating comprises with each corresponding instantaneous curvature in described a plurality of overlapping regions:
Calculate corresponding amount of torsional energy with the operation straight portion of sleeve pipe;
Calculate and the corresponding flexional of operation sleeve pipe; With
Obtain the telescopic shape of operation corresponding to minimum amount of torsional energy and minimum bend energy.
CN2006800500468A 2005-11-15 2006-11-15 An active cannula for bio-sensing and surgical intervention Active CN101351236B (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US73678905P 2005-11-15 2005-11-15
US60/736,789 2005-11-15
US84978806P 2006-10-06 2006-10-06
US60/849,788 2006-10-06
PCT/US2006/044386 WO2007059233A2 (en) 2005-11-15 2006-11-15 An active cannula for bio-sensing and surgical intervention

Publications (2)

Publication Number Publication Date
CN101351236A true CN101351236A (en) 2009-01-21
CN101351236B CN101351236B (en) 2013-05-29

Family

ID=38049282

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2006800500468A Active CN101351236B (en) 2005-11-15 2006-11-15 An active cannula for bio-sensing and surgical intervention

Country Status (6)

Country Link
US (2) US8152756B2 (en)
EP (1) EP1973595B1 (en)
JP (4) JP5276987B2 (en)
CN (1) CN101351236B (en)
CA (1) CA2630061C (en)
WO (1) WO2007059233A2 (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102368965A (en) * 2009-03-31 2012-03-07 皇家飞利浦电子股份有限公司 Helical continuous curvature tubes for nested cannulas
CN102834066A (en) * 2010-04-05 2012-12-19 直观外科手术操作公司 Curved cannula
CN103619395A (en) * 2011-06-20 2014-03-05 施惠德 Systems and methods for steering catheters
CN104203131A (en) * 2012-03-30 2014-12-10 皇家飞利浦有限公司 Nested cannula starter alignment
CN104582628A (en) * 2012-06-28 2015-04-29 伊西康内外科公司 Robotically powered surgical device with manually-actuatable reversing system
CN104902828A (en) * 2012-11-07 2015-09-09 3Nt医药有限公司 Paranasal sinus access system
CN107088093A (en) * 2017-04-28 2017-08-25 深圳市聚焦医疗机器人科技有限公司 A kind of modular event driven device of Multi-stage flexible curved tube medical robot
CN107440704A (en) * 2016-11-26 2017-12-08 张霞玲 A kind of adjustable neurostimulation probe in direction
CN108780986A (en) * 2015-10-06 2018-11-09 英派思博股份有限责任公司 Snake-shaped robot
CN109475405A (en) * 2016-03-31 2019-03-15 皇家飞利浦有限公司 The image guidance for manipulating introducer for minimal invasive procedures
CN109475430A (en) * 2016-08-10 2019-03-15 诺华股份有限公司 Instrument, system and method is discharged in subretinal fluid
CN109561923A (en) * 2016-02-11 2019-04-02 阿里内克斯股份有限公司 The method and apparatus of posterior nasal nerve ablation for image guidance
CN113520611A (en) * 2020-04-13 2021-10-22 上海微创医疗机器人（集团）股份有限公司 Sterile isolation mechanism, mirror holding arm and mirror holding robot
US11206972B2 (en) 2016-06-06 2021-12-28 3Nt Medical Ltd. Modular body cavity access system

Families Citing this family (554)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6770080B2 (en) 2001-04-26 2004-08-03 Fenestra Medical, Inc. Mechanically registered videoscopic myringotomy/tympanostomy tube placement system
US8066674B2 (en) * 2003-01-27 2011-11-29 Heuser Richard R Catheter introducer system
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US11259870B2 (en) 2005-06-06 2022-03-01 Intuitive Surgical Operations, Inc. Interactive user interfaces for minimally invasive telesurgical systems
EP1887961B1 (en) * 2005-06-06 2012-01-11 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US20070194082A1 (en) 2005-08-31 2007-08-23 Morgan Jerome R Surgical stapling device with anvil having staple forming pockets of varying depths
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US20110006101A1 (en) 2009-02-06 2011-01-13 EthiconEndo-Surgery, Inc. Motor driven surgical fastener device with cutting member lockout arrangements
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US9861359B2 (en) 2006-01-31 2018-01-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
EP2037794B1 (en) * 2006-06-13 2021-10-27 Intuitive Surgical Operations, Inc. Minimally invasive surgical system
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
JP5722542B2 (en) 2006-09-14 2015-05-20 コーニンクレッカ フィリップス エヌ ヴェ Active cannula system
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US8720766B2 (en) 2006-09-29 2014-05-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments and staples
US10130359B2 (en) 2006-09-29 2018-11-20 Ethicon Llc Method for forming a staple
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US20080169332A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapling device with a curved cutting member
US7673782B2 (en) 2007-03-15 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a releasable buttress material
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US8425488B2 (en) 2007-04-19 2013-04-23 Acclarent, Inc. System and method for the simultaneous bilateral treatment of target tissues within the ears using a guide block structure
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US8408439B2 (en) 2007-06-22 2013-04-02 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
CN101951965B (en) * 2008-01-07 2013-04-24 萨鲁塔里斯医疗设备公司 Devices for minimally-invasive extraocular delivery of radiation to the posterior portion of the eye and the uses
US7905381B2 (en) 2008-09-19 2011-03-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with cutting member arrangement
US8561870B2 (en) 2008-02-13 2013-10-22 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
RU2493788C2 (en) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Surgical cutting and fixing instrument, which has radio-frequency electrodes
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US8657174B2 (en) 2008-02-14 2014-02-25 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
US20130153641A1 (en) 2008-02-15 2013-06-20 Ethicon Endo-Surgery, Inc. Releasable layer of material and surgical end effector having the same
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US20090206131A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
WO2009111736A1 (en) 2008-03-06 2009-09-11 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
WO2009137712A1 (en) 2008-05-07 2009-11-12 Guided Delivery Systems Inc. Deflectable guide
JP6045152B2 (en) * 2008-06-25 2016-12-14 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Method for designing a nested cannula system for minimally invasive surgery and method for manufacturing the same
JP2012502681A (en) * 2008-09-16 2012-02-02 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Automatic system for controlled deployment of telescoping cannulas
PL3476312T3 (en) 2008-09-19 2024-03-11 Ethicon Llc Surgical stapler with apparatus for adjusting staple height
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
JP2012505694A (en) * 2008-10-17 2012-03-08 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Interlocking telescoping cannula
US20100121148A1 (en) * 2008-11-11 2010-05-13 Intuitive Surgical, Inc. Method and system for steerable medical device path definition and following during insertion and retraction
US8568302B2 (en) 2008-11-11 2013-10-29 Intuitive Surgical Operations, Inc. Method and system for steerable medical device path definition and following during insertion and retraction
WO2010073135A1 (en) * 2008-12-23 2010-07-01 Koninklijke Philips Electronics, N.V. Nested cannula configuration for use with endoscope
EP2381868A1 (en) * 2008-12-29 2011-11-02 Koninklijke Philips Electronics B.V. Planning for curvature interactions, multiple radii of curvature and adaptive neighborhoods
CN102264313A (en) * 2008-12-29 2011-11-30 皇家飞利浦电子股份有限公司 Planning and assembly of compensating concentric cannulas
US20100185172A1 (en) * 2009-01-20 2010-07-22 Mariel Fabro Diagnostic catheters, guide catheters, visualization devices and chord manipulation devices, and related kits and methods
WO2010085456A1 (en) 2009-01-20 2010-07-29 Guided Delivery Systems Inc. Anchor deployment devices and related methods
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
BRPI1008667A2 (en) 2009-02-06 2016-03-08 Ethicom Endo Surgery Inc improvement of the operated surgical stapler
US8444036B2 (en) 2009-02-06 2013-05-21 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
EP2424422B1 (en) 2009-04-29 2019-08-14 Koninklijke Philips N.V. Real-time depth estimation from monocular endoscope images
US9770366B2 (en) 2009-07-15 2017-09-26 Tusker Medical, Inc. Tympanic membrane pressure equalization tube delivery system
US9539146B2 (en) 2009-07-15 2017-01-10 Tusker Medical, Inc. Trigger assembly for tympanostomy tube delivery device
US8659977B2 (en) * 2009-10-28 2014-02-25 University Of Southern California Acoustic signal generation system using moving reflecting surface
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8608046B2 (en) 2010-01-07 2013-12-17 Ethicon Endo-Surgery, Inc. Test device for a surgical tool
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US9254372B2 (en) * 2010-08-13 2016-02-09 Cathrx Ltd Catheter assembly with deflection size adjustability
US8360296B2 (en) 2010-09-09 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
US8632525B2 (en) 2010-09-17 2014-01-21 Ethicon Endo-Surgery, Inc. Power control arrangements for surgical instruments and batteries
US9289212B2 (en) 2010-09-17 2016-03-22 Ethicon Endo-Surgery, Inc. Surgical instruments and batteries for surgical instruments
US8733613B2 (en) 2010-09-29 2014-05-27 Ethicon Endo-Surgery, Inc. Staple cartridge
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9216019B2 (en) 2011-09-23 2015-12-22 Ethicon Endo-Surgery, Inc. Surgical stapler with stationary staple drivers
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9517063B2 (en) 2012-03-28 2016-12-13 Ethicon Endo-Surgery, Llc Movable member for use with a tissue thickness compensator
US9307989B2 (en) 2012-03-28 2016-04-12 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorportating a hydrophobic agent
US9314246B2 (en) 2010-09-30 2016-04-19 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
CN103140178B (en) 2010-09-30 2015-09-23 伊西康内外科公司 Comprise the closure system keeping matrix and alignment matrix
US9211120B2 (en) 2011-04-29 2015-12-15 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of medicaments
US9433419B2 (en) 2010-09-30 2016-09-06 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of layers
US9301753B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Expandable tissue thickness compensator
US9700317B2 (en) 2010-09-30 2017-07-11 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a releasable tissue thickness compensator
US20120080336A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising staples positioned within a compressible portion thereof
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US9332974B2 (en) 2010-09-30 2016-05-10 Ethicon Endo-Surgery, Llc Layered tissue thickness compensator
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
JP5585369B2 (en) * 2010-10-12 2014-09-10 セイコーエプソン株式会社 Fluid ejecting apparatus and medical device
US20120091307A1 (en) * 2010-10-13 2012-04-19 Debra Haynes Stand and method for hands free reading and viewing
US9060765B2 (en) 2010-11-08 2015-06-23 Bovie Medical Corporation Electrosurgical apparatus with retractable blade
US8827903B2 (en) 2011-03-14 2014-09-09 Ethicon Endo-Surgery, Inc. Modular tool heads for use with circular surgical instruments
AU2012250197B2 (en) 2011-04-29 2017-08-10 Ethicon Endo-Surgery, Inc. Staple cartridge comprising staples positioned within a compressible portion thereof
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
FR2981260B1 (en) * 2011-10-18 2014-12-12 Univ Grenoble 1 DEVICE FOR GUIDING A MEDICAL NEEDLE
WO2013074970A1 (en) 2011-11-16 2013-05-23 Vanderbilt University Motive device for use in magnetically-sensitive environments
US9504604B2 (en) 2011-12-16 2016-11-29 Auris Surgical Robotics, Inc. Lithotripsy eye treatment
US9636040B2 (en) 2012-02-03 2017-05-02 Intuitive Surgical Operations, Inc. Steerable flexible needle with embedded shape sensing
US20130218005A1 (en) * 2012-02-08 2013-08-22 University Of Maryland, Baltimore Minimally invasive neurosurgical intracranial robot system and method
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
US8746075B2 (en) 2012-02-16 2014-06-10 7-Sigma, Inc. Flexible electrically conductive nanotube sensor for elastomeric devices
KR101391405B1 (en) 2012-02-24 2014-05-02 유-충 창 needle unit
ES2687817T3 (en) 2012-02-29 2018-10-29 Procept Biorobotics Corporation Resection and treatment of automated image guided tissue
MX350846B (en) 2012-03-28 2017-09-22 Ethicon Endo Surgery Inc Tissue thickness compensator comprising capsules defining a low pressure environment.
BR112014024194B1 (en) 2012-03-28 2022-03-03 Ethicon Endo-Surgery, Inc STAPLER CARTRIDGE SET FOR A SURGICAL STAPLER
RU2014143258A (en) 2012-03-28 2016-05-20 Этикон Эндо-Серджери, Инк. FABRIC THICKNESS COMPENSATOR CONTAINING MANY LAYERS
US20150051576A1 (en) * 2012-03-30 2015-02-19 Koninklijke Philips N.V. Nested cannula tips
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
JP2015528713A (en) * 2012-06-21 2015-10-01 グローバス メディカル インコーポレイティッド Surgical robot platform
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9282974B2 (en) 2012-06-28 2016-03-15 Ethicon Endo-Surgery, Llc Empty clip cartridge lockout
US11197671B2 (en) 2012-06-28 2021-12-14 Cilag Gmbh International Stapling assembly comprising a lockout
EP2866686A1 (en) 2012-06-28 2015-05-06 Ethicon Endo-Surgery, Inc. Empty clip cartridge lockout
BR112014032776B1 (en) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc SURGICAL INSTRUMENT SYSTEM AND SURGICAL KIT FOR USE WITH A SURGICAL INSTRUMENT SYSTEM
US9386985B2 (en) 2012-10-15 2016-07-12 Ethicon Endo-Surgery, Llc Surgical cutting instrument
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
US9386984B2 (en) 2013-02-08 2016-07-12 Ethicon Endo-Surgery, Llc Staple cartridge comprising a releasable cover
BR112015021082B1 (en) 2013-03-01 2022-05-10 Ethicon Endo-Surgery, Inc surgical instrument
MX368026B (en) 2013-03-01 2019-09-12 Ethicon Endo Surgery Inc Articulatable surgical instruments with conductive pathways for signal communication.
US9700309B2 (en) 2013-03-01 2017-07-11 Ethicon Llc Articulatable surgical instruments with conductive pathways for signal communication
US10080576B2 (en) 2013-03-08 2018-09-25 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US9867635B2 (en) 2013-03-08 2018-01-16 Auris Surgical Robotics, Inc. Method, apparatus and system for a water jet
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US20140261453A1 (en) * 2013-03-12 2014-09-18 Hansen Medical, Inc. Noncontact encoder for measuring catheter insertion
US9345481B2 (en) 2013-03-13 2016-05-24 Ethicon Endo-Surgery, Llc Staple cartridge tissue thickness sensor system
US9681891B2 (en) 2013-03-14 2017-06-20 Tusker Medical, Inc. Tympanostomy tube delivery device with cutting dilator
US10470762B2 (en) 2013-03-14 2019-11-12 Ethicon Llc Multi-function motor for a surgical instrument
US9320652B2 (en) 2013-03-14 2016-04-26 Tusker Medical, Inc. Features to improve and sense tympanic membrane apposition by tympanostomy tube delivery instrument
EP2972171A4 (en) * 2013-03-14 2016-08-24 Sigma Inc 7 Responsive device with sensors
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US9332984B2 (en) 2013-03-27 2016-05-10 Ethicon Endo-Surgery, Llc Fastener cartridge assemblies
US9795384B2 (en) 2013-03-27 2017-10-24 Ethicon Llc Fastener cartridge comprising a tissue thickness compensator and a gap setting element
US9572577B2 (en) 2013-03-27 2017-02-21 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a tissue thickness compensator including openings therein
BR112015026109B1 (en) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc surgical instrument
US10149680B2 (en) 2013-04-16 2018-12-11 Ethicon Llc Surgical instrument comprising a gap setting system
US9574644B2 (en) 2013-05-30 2017-02-21 Ethicon Endo-Surgery, Llc Power module for use with a surgical instrument
US10744035B2 (en) 2013-06-11 2020-08-18 Auris Health, Inc. Methods for robotic assisted cataract surgery
CA3004277C (en) * 2013-06-19 2020-10-20 Titan Medical Inc. Articulated tool positioner and system employing same
KR101506932B1 (en) 2013-07-29 2015-04-07 한국과학기술연구원 Tube insertion device having an end effector capable of adjustment of direction
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
JP6416260B2 (en) 2013-08-23 2018-10-31 エシコン エルエルシー Firing member retractor for a powered surgical instrument
US20150053746A1 (en) 2013-08-23 2015-02-26 Ethicon Endo-Surgery, Inc. Torque optimization for surgical instruments
EP3060157B1 (en) 2013-10-24 2019-12-11 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US9713509B2 (en) 2013-10-24 2017-07-25 Auris Surgical Robotics, Inc. Instrument device manipulator with back-mounted tool attachment mechanism
KR101535520B1 (en) * 2013-10-31 2015-07-09 한국과학기술연구원 Wire rod having improved super-elastic characteristics and Tube continuum robot using the same
US20160296267A1 (en) 2013-11-18 2016-10-13 Vanderbilt University System and apparatus for performing transforminal therapy
US10688284B2 (en) 2013-11-22 2020-06-23 Massachusetts Institute Of Technology Steering techniques for surgical instruments
US9839428B2 (en) 2013-12-23 2017-12-12 Ethicon Llc Surgical cutting and stapling instruments with independent jaw control features
US9968354B2 (en) 2013-12-23 2018-05-15 Ethicon Llc Surgical staples and methods for making the same
US9724092B2 (en) 2013-12-23 2017-08-08 Ethicon Llc Modular surgical instruments
US9642620B2 (en) 2013-12-23 2017-05-09 Ethicon Endo-Surgery, Llc Surgical cutting and stapling instruments with articulatable end effectors
US20150173756A1 (en) 2013-12-23 2015-06-25 Ethicon Endo-Surgery, Inc. Surgical cutting and stapling methods
US9681870B2 (en) 2013-12-23 2017-06-20 Ethicon Llc Articulatable surgical instruments with separate and distinct closing and firing systems
KR101525457B1 (en) 2014-02-10 2015-06-03 한국과학기술연구원 Endoscope robot having joint structure with high curvature
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
JP6462004B2 (en) 2014-02-24 2019-01-30 エシコン エルエルシー Fastening system with launcher lockout
US9839423B2 (en) 2014-02-24 2017-12-12 Ethicon Llc Implantable layers and methods for modifying the shape of the implantable layers for use with a surgical fastening instrument
US10201364B2 (en) 2014-03-26 2019-02-12 Ethicon Llc Surgical instrument comprising a rotatable shaft
BR112016021943B1 (en) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc SURGICAL INSTRUMENT FOR USE BY AN OPERATOR IN A SURGICAL PROCEDURE
US9804618B2 (en) 2014-03-26 2017-10-31 Ethicon Llc Systems and methods for controlling a segmented circuit
US9820738B2 (en) 2014-03-26 2017-11-21 Ethicon Llc Surgical instrument comprising interactive systems
US9913642B2 (en) 2014-03-26 2018-03-13 Ethicon Llc Surgical instrument comprising a sensor system
US20150297222A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
JP6636452B2 (en) 2014-04-16 2020-01-29 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ Fastener cartridge including extension having different configurations
BR112016023807B1 (en) 2014-04-16 2022-07-12 Ethicon Endo-Surgery, Llc CARTRIDGE SET OF FASTENERS FOR USE WITH A SURGICAL INSTRUMENT
US9833241B2 (en) 2014-04-16 2017-12-05 Ethicon Llc Surgical fastener cartridges with driver stabilizing arrangements
BR112016023825B1 (en) 2014-04-16 2022-08-02 Ethicon Endo-Surgery, Llc STAPLE CARTRIDGE FOR USE WITH A SURGICAL STAPLER AND STAPLE CARTRIDGE FOR USE WITH A SURGICAL INSTRUMENT
US9801627B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Fastener cartridge for creating a flexible staple line
US10045781B2 (en) 2014-06-13 2018-08-14 Ethicon Llc Closure lockout systems for surgical instruments
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
KR101667933B1 (en) * 2014-07-18 2016-10-21 한국과학기술연구원 Tube continuum robot having a tube body capable of linear control
US20160038341A1 (en) 2014-08-08 2016-02-11 Acclarent, Inc. Tympanostomy tube delivery device with elastomeric brake
US10195086B2 (en) * 2014-08-11 2019-02-05 Tusker Medical, Inc. Tympanostomy tube delivery device with rotatable
US9833359B2 (en) 2014-08-12 2017-12-05 Tusker Medical, Inc. Tympanostomy tube delivery device with cutter force clutch
US9833360B2 (en) 2014-08-12 2017-12-05 Tusker Medical, Inc. Tympanostomy tube delivery device with replaceable shaft portion
JP6626110B2 (en) 2014-09-04 2019-12-25 メミック イノベーティブ サージェリー リミテッドＭｅｍｉｃ Ｉｎｎｏｖａｔｉｖｅ Ｓｕｒｇｅｒｙ Ｌｔｄ． Devices and systems including mechanical arms
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
BR112017004361B1 (en) 2014-09-05 2023-04-11 Ethicon Llc ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT
US9737301B2 (en) 2014-09-05 2017-08-22 Ethicon Llc Monitoring device degradation based on component evaluation
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
DE102014113962B3 (en) * 2014-09-26 2015-12-10 Gottfried Wilhelm Leibniz Universität Hannover working mechanism
JP6648119B2 (en) 2014-09-26 2020-02-14 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ Surgical stapling buttress and accessory materials
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
KR20170076690A (en) * 2014-09-30 2017-07-04 메사추세츠 인스티튜트 오브 테크놀로지 Instruments for minimally invasive surgical procedures
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US10117649B2 (en) 2014-12-18 2018-11-06 Ethicon Llc Surgical instrument assembly comprising a lockable articulation system
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
BR112017012996B1 (en) 2014-12-18 2022-11-08 Ethicon Llc SURGICAL INSTRUMENT WITH AN ANvil WHICH IS SELECTIVELY MOVABLE ABOUT AN IMMOVABLE GEOMETRIC AXIS DIFFERENT FROM A STAPLE CARTRIDGE
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
US9993258B2 (en) 2015-02-27 2018-06-12 Ethicon Llc Adaptable surgical instrument handle
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US9931118B2 (en) 2015-02-27 2018-04-03 Ethicon Endo-Surgery, Llc Reinforced battery for a surgical instrument
WO2016141358A1 (en) 2015-03-05 2016-09-09 Guided Delivery Systems Inc. Devices and methods of visualizing and determining depth of penetration in cardiac tissue
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US9895148B2 (en) 2015-03-06 2018-02-20 Ethicon Endo-Surgery, Llc Monitoring speed control and precision incrementing of motor for powered surgical instruments
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US10045776B2 (en) 2015-03-06 2018-08-14 Ethicon Llc Control techniques and sub-processor contained within modular shaft with select control processing from handle
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
JP2020121162A (en) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ Time dependent evaluation of sensor data to determine stability element, creep element and viscoelastic element of measurement
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10433844B2 (en) 2015-03-31 2019-10-08 Ethicon Llc Surgical instrument with selectively disengageable threaded drive systems
US10803662B2 (en) 2015-05-22 2020-10-13 The University Of North Carolina At Chapel Hill Methods, systems, and computer readable media for transoral lung access
US10052102B2 (en) 2015-06-18 2018-08-21 Ethicon Llc Surgical end effectors with dual cam actuated jaw closing features
KR101700885B1 (en) 2015-06-23 2017-02-01 한국과학기술연구원 Robot system for operation using a plurality of tube continuum
US10835249B2 (en) 2015-08-17 2020-11-17 Ethicon Llc Implantable layers for a surgical instrument
MX2022009705A (en) 2015-08-26 2022-11-07 Ethicon Llc Surgical staples comprising hardness variations for improved fastening of tissue.
US10098642B2 (en) 2015-08-26 2018-10-16 Ethicon Llc Surgical staples comprising features for improved fastening of tissue
CN108348233B (en) 2015-08-26 2021-05-07 伊西康有限责任公司 Surgical staple strip for allowing changing staple characteristics and achieving easy cartridge loading
US10357252B2 (en) 2015-09-02 2019-07-23 Ethicon Llc Surgical staple configurations with camming surfaces located between portions supporting surgical staples
MX2022006189A (en) 2015-09-02 2022-06-16 Ethicon Llc Surgical staple configurations with camming surfaces located between portions supporting surgical staples.
CA2957362A1 (en) 2015-09-04 2017-03-04 Memic Innovative Surgery Ltd. Actuation of a device comprising mechanical arms
EP3346899B1 (en) 2015-09-09 2022-11-09 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10085751B2 (en) 2015-09-23 2018-10-02 Ethicon Llc Surgical stapler having temperature-based motor control
US10076326B2 (en) 2015-09-23 2018-09-18 Ethicon Llc Surgical stapler having current mirror-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US10561420B2 (en) 2015-09-30 2020-02-18 Ethicon Llc Tubular absorbable constructs
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10285699B2 (en) 2015-09-30 2019-05-14 Ethicon Llc Compressible adjunct
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
KR101783437B1 (en) * 2015-10-13 2017-09-29 한국과학기술연구원 Endoscope robot
US10751123B2 (en) * 2015-10-30 2020-08-25 Washington University Thermoablation probe
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11344365B2 (en) * 2016-01-05 2022-05-31 Cardiofocus, Inc. Ablation system with automated sweeping ablation energy element
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
CN108882932B (en) 2016-02-09 2021-07-23 伊西康有限责任公司 Surgical instrument with asymmetric articulation configuration
US10653413B2 (en) 2016-02-09 2020-05-19 Ethicon Llc Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
EP3795110A1 (en) 2016-03-09 2021-03-24 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
US10531874B2 (en) 2016-04-01 2020-01-14 Ethicon Llc Surgical cutting and stapling end effector with anvil concentric drive member
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US10420552B2 (en) 2016-04-01 2019-09-24 Ethicon Llc Surgical stapling system configured to provide selective cutting of tissue
US11284890B2 (en) 2016-04-01 2022-03-29 Cilag Gmbh International Circular stapling system comprising an incisable tissue support
US11064997B2 (en) 2016-04-01 2021-07-20 Cilag Gmbh International Surgical stapling instrument
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10363037B2 (en) 2016-04-18 2019-07-30 Ethicon Llc Surgical instrument system comprising a magnetic lockout
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
USD850617S1 (en) 2016-06-24 2019-06-04 Ethicon Llc Surgical fastener cartridge
US11000278B2 (en) 2016-06-24 2021-05-11 Ethicon Llc Staple cartridge comprising wire staples and stamped staples
USD826405S1 (en) 2016-06-24 2018-08-21 Ethicon Llc Surgical fastener
USD847989S1 (en) 2016-06-24 2019-05-07 Ethicon Llc Surgical fastener cartridge
CN109310431B (en) 2016-06-24 2022-03-04 伊西康有限责任公司 Staple cartridge comprising wire staples and punch staples
US10568626B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Surgical instruments with jaw opening features for increasing a jaw opening distance
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US10888322B2 (en) 2016-12-21 2021-01-12 Ethicon Llc Surgical instrument comprising a cutting member
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US10945727B2 (en) 2016-12-21 2021-03-16 Ethicon Llc Staple cartridge with deformable driver retention features
JP7010956B2 (en) 2016-12-21 2022-01-26 エシコン エルエルシー How to staple tissue
US10687810B2 (en) 2016-12-21 2020-06-23 Ethicon Llc Stepped staple cartridge with tissue retention and gap setting features
JP2020501779A (en) 2016-12-21 2020-01-23 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ Surgical stapling system
US10537324B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Stepped staple cartridge with asymmetrical staples
US20180168608A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical instrument system comprising an end effector lockout and a firing assembly lockout
US20180168618A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling systems
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US20180168633A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments and staple-forming anvils
US10973516B2 (en) 2016-12-21 2021-04-13 Ethicon Llc Surgical end effectors and adaptable firing members therefor
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US10682138B2 (en) 2016-12-21 2020-06-16 Ethicon Llc Bilaterally asymmetric staple forming pocket pairs
CN110099619B (en) 2016-12-21 2022-07-15 爱惜康有限责任公司 Lockout device for surgical end effector and replaceable tool assembly
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US11191539B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system
US10993715B2 (en) 2016-12-21 2021-05-04 Ethicon Llc Staple cartridge comprising staples with different clamping breadths
US11684367B2 (en) 2016-12-21 2023-06-27 Cilag Gmbh International Stepped assembly having and end-of-life indicator
US10779823B2 (en) 2016-12-21 2020-09-22 Ethicon Llc Firing member pin angle
US10980536B2 (en) 2016-12-21 2021-04-20 Ethicon Llc No-cartridge and spent cartridge lockout arrangements for surgical staplers
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
EP3629968A4 (en) * 2017-05-30 2021-02-17 Apyx Medical Corporation Electrosurgical apparatus with robotic tip
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US20180368844A1 (en) 2017-06-27 2018-12-27 Ethicon Llc Staple forming pocket arrangements
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
US11484310B2 (en) 2017-06-28 2022-11-01 Cilag Gmbh International Surgical instrument comprising a shaft including a closure tube profile
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
US10695057B2 (en) 2017-06-28 2020-06-30 Ethicon Llc Surgical instrument lockout arrangement
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
EP4070740A1 (en) 2017-06-28 2022-10-12 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
NL2019909B1 (en) 2017-11-14 2019-05-20 Academisch Ziekenhuis Leiden SYSTEM, METHOD AND CATHETER FOR PITUITARY AND BRAIN IMPLANTATION
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11369368B2 (en) 2017-12-21 2022-06-28 Cilag Gmbh International Surgical instrument comprising synchronized drive systems
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
JP7183062B2 (en) * 2018-03-23 2022-12-05 キヤノン株式会社 CONTINUOUS ROBOT CONTROL DEVICE, CONTINUOUS ROBOT CONTROL METHOD AND PROGRAM
KR102069601B1 (en) 2018-06-11 2020-01-23 한국과학기술연구원 Tube structure with variable stiffness mechanism
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11446055B1 (en) 2018-10-18 2022-09-20 Lumoptik, Inc. Light assisted needle placement system and method
CN111135429A (en) * 2018-11-02 2020-05-12 里特材料科技股份有限公司 Alloy wire with shape memory characteristic and super elasticity and manufacturing method and application thereof
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
WO2020210598A1 (en) * 2019-04-10 2020-10-15 Saint Louis University Systems and methods for guiding surgical tools
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11628020B2 (en) 2019-06-19 2023-04-18 Virtuoso Surgical, Inc. Insertable robot for minimally invasive surgery
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11350938B2 (en) 2019-06-28 2022-06-07 Cilag Gmbh International Surgical instrument comprising an aligned rfid sensor
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11480068B2 (en) 2019-10-15 2022-10-25 General Electric Company Systems and method of servicing a turbomachine
KR102321836B1 (en) 2019-12-09 2021-11-08 한국과학기술연구원 System and method for controlling needle with variable stiffness structure
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US20230165646A1 (en) * 2020-05-20 2023-06-01 Khalifa University of Science and Technology Concentric tube robots with improved stability for minimally invasive surgery
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
US11660090B2 (en) 2020-07-28 2023-05-30 Cllag GmbH International Surgical instruments with segmented flexible drive arrangements
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US20220287680A1 (en) * 2021-03-09 2022-09-15 GE Precision Healthcare LLC Shape Memory Support For Interventional Device Insertion Tubes
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11826047B2 (en) 2021-05-28 2023-11-28 Cilag Gmbh International Stapling instrument comprising jaw mounts
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4935017A (en) 1988-04-29 1990-06-19 C. R. Bard, Inc. Variable shaped catheter system and method for catheterization
US7794424B2 (en) * 1991-07-15 2010-09-14 Paskar Larry D Catheter with out-of-plane configurations
US5971767A (en) * 1996-09-16 1999-10-26 The Research Foundation Of State University Of New York System and method for performing a three-dimensional virtual examination
EP1459691A1 (en) 1996-10-23 2004-09-22 Oratec Interventions, Inc. Method and apparatus for treating intervertebral discs
US5876373A (en) * 1997-04-04 1999-03-02 Eclipse Surgical Technologies, Inc. Steerable catheter
US7090683B2 (en) * 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6096004A (en) * 1998-07-10 2000-08-01 Mitsubishi Electric Information Technology Center America, Inc. (Ita) Master/slave system for the manipulation of tubular medical tools
US6800056B2 (en) * 2000-04-03 2004-10-05 Neoguide Systems, Inc. Endoscope with guiding apparatus
JP2004509659A (en) * 2000-05-30 2004-04-02 ジェニコン　エルシー Trocar system incorporating shielded trocar, knobbed cannula, removable end housing, and flexible valve system and methods of use thereof
JP2002191571A (en) * 2000-12-26 2002-07-09 Hisayuki Mukai Electrode catheter
US6755812B2 (en) * 2001-12-11 2004-06-29 Cardiac Pacemakers, Inc. Deflectable telescoping guide catheter
US7717899B2 (en) * 2002-01-28 2010-05-18 Cardiac Pacemakers, Inc. Inner and outer telescoping catheter delivery system
US7115134B2 (en) * 2002-07-22 2006-10-03 Chambers Technology, Llc. Catheter with flexible tip and shape retention
US7766904B2 (en) * 2003-01-31 2010-08-03 Iridex Corporation Adjustable laser probe for use in vitreoretinal surgery
EP1955239A4 (en) * 2005-11-08 2011-06-22 Univ Boston Manipulators employing multiple deformable elongate members

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102368965B (en) * 2009-03-31 2015-11-25 皇家飞利浦电子股份有限公司 For the spiral type Curved Continuous curved tube of nested cannulae
CN102368965A (en) * 2009-03-31 2012-03-07 皇家飞利浦电子股份有限公司 Helical continuous curvature tubes for nested cannulas
CN102834066A (en) * 2010-04-05 2012-12-19 直观外科手术操作公司 Curved cannula
CN103619395A (en) * 2011-06-20 2014-03-05 施惠德 Systems and methods for steering catheters
CN104203131A (en) * 2012-03-30 2014-12-10 皇家飞利浦有限公司 Nested cannula starter alignment
CN104582628A (en) * 2012-06-28 2015-04-29 伊西康内外科公司 Robotically powered surgical device with manually-actuatable reversing system
CN104902828B (en) * 2012-11-07 2018-05-11 3Nt医药有限公司 Paranasal sinus approach system
CN104902828A (en) * 2012-11-07 2015-09-09 3Nt医药有限公司 Paranasal sinus access system
US10258225B2 (en) 2012-11-07 2019-04-16 3Nt Medical Ltd. Paranasal sinus access system
CN108780986A (en) * 2015-10-06 2018-11-09 英派思博股份有限责任公司 Snake-shaped robot
CN108780986B (en) * 2015-10-06 2020-09-25 Flx解决方案有限责任公司 Snake-shaped robot
CN109561923A (en) * 2016-02-11 2019-04-02 阿里内克斯股份有限公司 The method and apparatus of posterior nasal nerve ablation for image guidance
CN109475405A (en) * 2016-03-31 2019-03-15 皇家飞利浦有限公司 The image guidance for manipulating introducer for minimal invasive procedures
US11206972B2 (en) 2016-06-06 2021-12-28 3Nt Medical Ltd. Modular body cavity access system
US11969156B2 (en) 2016-06-06 2024-04-30 3Nt Medical Ltd. Modular body cavity access system
CN109475430A (en) * 2016-08-10 2019-03-15 诺华股份有限公司 Instrument, system and method is discharged in subretinal fluid
CN107440704A (en) * 2016-11-26 2017-12-08 张霞玲 A kind of adjustable neurostimulation probe in direction
CN107088093A (en) * 2017-04-28 2017-08-25 深圳市聚焦医疗机器人科技有限公司 A kind of modular event driven device of Multi-stage flexible curved tube medical robot
CN107088093B (en) * 2017-04-28 2023-09-22 深圳前海前沿生命科学应用有限公司 Modularized driving device of multistage flexible curved tube medical robot
CN113520611A (en) * 2020-04-13 2021-10-22 上海微创医疗机器人（集团）股份有限公司 Sterile isolation mechanism, mirror holding arm and mirror holding robot
CN113520611B (en) * 2020-04-13 2023-08-25 上海微创医疗机器人（集团）股份有限公司 Sterile isolation mechanism, mirror holding arm and mirror holding robot

Also Published As

Publication number Publication date
JP2014111145A (en) 2014-06-19
EP1973595B1 (en) 2018-10-31
JP5550682B2 (en) 2014-07-16
JP5276987B2 (en) 2013-08-28
JP6290822B2 (en) 2018-03-07
JP5964335B2 (en) 2016-08-03
US8152756B2 (en) 2012-04-10
US20130018303A1 (en) 2013-01-17
US8715226B2 (en) 2014-05-06
EP1973595A2 (en) 2008-10-01
JP2009515657A (en) 2009-04-16
EP1973595A4 (en) 2011-07-06
WO2007059233A2 (en) 2007-05-24
CA2630061A1 (en) 2007-05-24
CA2630061C (en) 2015-03-17
CN101351236B (en) 2013-05-29
JP2012228523A (en) 2012-11-22
US20090171271A1 (en) 2009-07-02
WO2007059233A3 (en) 2008-01-31
JP2015198940A (en) 2015-11-12

Similar Documents

Publication Publication Date Title
CN101351236B (en) An active cannula for bio-sensing and surgical intervention
US7961924B2 (en) Method of three-dimensional device localization using single-plane imaging
Wu et al. Development of a compact continuum tubular robotic system for nasopharyngeal biopsy
US9808140B2 (en) Steerable segmented endoscope and method of insertion
US7555331B2 (en) Method for surgical navigation utilizing scale-invariant registration between a navigation system and a localization system
US20160067450A1 (en) Flexible instrument with nested conduits
US20220313375A1 (en) Systems and methods for robotic bronchoscopy
EP2131734A2 (en) Displaying an internal image of a body lumen of a patient
Thakkar et al. A novel, new robotic platform for natural orifice distal pancreatectomy
Song et al. A novel continuum overtube with improved triangulation for flexible robotic endoscopy
JP7402215B2 (en) Intraluminal navigation using ghost instrument information
JP7229351B2 (en) Medical device with distributed cavities and method of use
JP2022019680A (en) Medical apparatus and method of use thereof
Li et al. A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization, and Prototyping
Vrielink et al. Cable-driven parallel mechanisms for minimally invasive robotic surgery
US20220280134A1 (en) Endoluminal shafts including ultrasound coupling capability
Montanelli et al. Towards the Future of Endoscopic Ultrasound
WO2023154352A1 (en) Medical apparatus with wire anchors and method of use thereof
AU2002341685A1 (en) Steerable segmented endoscope and method of insertion

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant